Research On Mathematical Modeling And Backstepping Adaptive Heading Control Of Sailboat

As an intelligent vehicle on the sea,the sailboat has begun to show its unique value,especially in the marine data acquisition and monitoring,maritime risk and illegal behavior monitoring,etc.Using the wind as the main power energy,the sailboat can achieve energy self-sufficiency,long range cruise and long-term continuous operation.So the coverage of marine monitoring can be expanded,and resources can be saved greatly.This paper mainly focuses on the modeling and course control of sailboat.First of all,aimed at a 12m sailboat fully driven by wind,this paper separates the sailboat into four parts:sail,rudder,keel and hull,applies the basic aerodynamic theory to analyze the stress of each part,obtains the force relationship function of each part by fitting,establishes a mathematical model with four degrees of freedom sailboat based on Fossen model.Secondly,According to the mathematical model of the established sailing and consider the model parameters are known,the best angle of attack can be calculated based on empirical formula.By using Backstepping technology,sliding mode control and adaptive control algorithm,the heading-keeping controller and the course tracking controller are designed by introducing symbolic function and parameter adaptive law respectively in the case of the disturbance bounds are known and unknown.So the fixed heading and variable heading control can be achieved successfully.Using Lyapunov stability theory,it is proved that all signals are bounded in the closed-loop system.Then,considering the model parameters and the external disturbance are unknown,the RBF neural network control algorithm is introduced to approximate the uncertain parameters and external disturbances.And applying Backstepping technology,a RBF neural network adaptive heading control controller is designed to realize the heading control.Using Lyapunov stability theory,it is proved that all signals are bounded in the closed-loop system.Finally,taking the mathematical model of 12m sailboat as the research object,the control and simulation of the course are carried out by Matlab/Simulink.The results show that the controller designed in this paper can effectively deal with the disturbance such as wind,wave and flow,and can control the course effectively.